Event-triggered fuzzy finite-time reliable control for dynamic positioning of nonlinear unmanned marine vehicles

Abstract

This paper studies the fuzzy finite-time reliable dynamic positioning (DP) control for nonlinear unmanned marine vehicles. Firstly, the motion dynamics of nonlinear unmanned marine vehicles is modeled by the Takagi-Sugeno (T-S) fuzzy system. Secondly, a fuzzy state observer is designed to estimate the immeasurable position and velocity of unmanned marine vehicles. In order to decrease the frequency of data transmission of actuators and sensors, a dynamic event-triggered mechanism is presented based on unmanned marine vehicles information and the estimation error. Then, a fuzzy event-triggered reliable output feedback control method is presented by finite-time theory to tackle the actuator faults problem occurring in unmanned marine vehicles. The sufficient finite-time stable conditions in the form of LMIs are established via constructing finite-time Lyapunov-Krasovskii functional. Ultimately, the computer simulation results and comparisons with the existing control methods verify the advantages of the presented control method.